Methods for encoding point cloud feature
US11380112B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 20, 2020 |
| Grant date | Jul 5, 2022 |
| Priority date | — |
| Expiry date | Jan 5, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V10/88
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for encoding a point cloud feature includes: obtaining an original point cloud, generating point-wise hybrid scale voxel features by conducting hybrid scale voxelization on the original point cloud; generating voxel-wise attention features using spatial features and voxel features of points in a voxel at each voxel scale; aggregating the hybrid scale voxel features and the attention features to obtain voxel-wise projection scale information; and mapping the voxel-wise projection scale information to pseudo image features at projection scales. In this way, points can be retained during voxelization, and a feature encoding network is guided by the attention features to be more attentive to interrelationships between points in the voxels, thereby increasing accuracy of three-dimensional object detection.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.